TF. More...

Public Member Functions
void	halt ()
	RosWrapper (std::string host, int reverse_port)
Protected Attributes
actionlib::ActionServer < control_msgs::FollowJointTrajectoryAction >	as_
std::string	base_frame_
boost::shared_ptr < controller_manager::ControllerManager >	controller_manager_
control_msgs::FollowJointTrajectoryFeedback	feedback_
actionlib::ServerGoalHandle < control_msgs::FollowJointTrajectoryAction >	goal_handle_
boost::shared_ptr < ros_control_ur::UrHardwareInterface >	hardware_interface_
bool	has_goal_
double	io_flag_delay_
ros::ServiceServer	io_srv_
std::vector< double >	joint_offsets_
double	max_velocity_
std::thread *	mb_publish_thread_
std::condition_variable	msg_cond_
ros::NodeHandle	nh_
ros::ServiceServer	payload_srv_
control_msgs::FollowJointTrajectoryResult	result_
UrDriver	robot_
std::thread *	ros_control_thread_
std::condition_variable	rt_msg_cond_
std::thread *	rt_publish_thread_
ros::Subscriber	speed_sub_
std::string	tool_frame_
ros::Subscriber	urscript_sub_
bool	use_ros_control_
Private Member Functions
void	cancelCB (actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh)
void	goalCB (actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh)
bool	has_limited_velocities ()
bool	has_positions ()
bool	has_velocities ()
void	publishMbMsg ()
void	publishRTMsg ()
void	reorder_traj_joints (trajectory_msgs::JointTrajectory &traj)
void	rosControlLoop ()
bool	setIO (ur_msgs::SetIORequest &req, ur_msgs::SetIOResponse &resp)
bool	setPayload (ur_msgs::SetPayloadRequest &req, ur_msgs::SetPayloadResponse &resp)
void	speedInterface (const trajectory_msgs::JointTrajectory::Ptr &msg)
bool	start_positions_match (const trajectory_msgs::JointTrajectory &traj, double eps)
bool	traj_is_finite ()
void	trajThread (std::vector< double > timestamps, std::vector< std::vector< double > > positions, std::vector< std::vector< double > > velocities)
void	urscriptInterface (const std_msgs::String::ConstPtr &msg)
bool	validateJointNames ()

Detailed Description

TF.

Definition at line 58 of file ur_ros_wrapper.cpp.

Constructor & Destructor Documentation

RosWrapper::RosWrapper	(	std::string	host,
		int	reverse_port
	)		`[inline]`

Definition at line 86 of file ur_ros_wrapper.cpp.

Member Function Documentation

void RosWrapper::cancelCB ( actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh ) [inline, private]

Definition at line 380 of file ur_ros_wrapper.cpp.

void RosWrapper::goalCB ( actionlib::ServerGoalHandle< control_msgs::FollowJointTrajectoryAction > gh ) [inline, private]

Definition at line 236 of file ur_ros_wrapper.cpp.

void RosWrapper::halt ( ) [inline]

Definition at line 219 of file ur_ros_wrapper.cpp.

bool RosWrapper::has_limited_velocities ( ) [inline, private]

Definition at line 517 of file ur_ros_wrapper.cpp.

bool RosWrapper::has_positions ( ) [inline, private]

Definition at line 491 of file ur_ros_wrapper.cpp.

bool RosWrapper::has_velocities ( ) [inline, private]

Definition at line 480 of file ur_ros_wrapper.cpp.

void RosWrapper::publishMbMsg ( ) [inline, private]

Definition at line 728 of file ur_ros_wrapper.cpp.

void RosWrapper::publishRTMsg ( ) [inline, private]

Definition at line 651 of file ur_ros_wrapper.cpp.

void RosWrapper::reorder_traj_joints ( trajectory_msgs::JointTrajectory & traj ) [inline, private]

Definition at line 450 of file ur_ros_wrapper.cpp.

void RosWrapper::rosControlLoop ( ) [inline, private]

Definition at line 565 of file ur_ros_wrapper.cpp.

bool RosWrapper::setIO	(	ur_msgs::SetIORequest &	req,
		ur_msgs::SetIOResponse &	resp
	)		`[inline, private]`

Definition at line 396 of file ur_ros_wrapper.cpp.

bool RosWrapper::setPayload	(	ur_msgs::SetPayloadRequest &	req,
		ur_msgs::SetPayloadResponse &	resp
	)		`[inline, private]`

Definition at line 418 of file ur_ros_wrapper.cpp.

void RosWrapper::speedInterface ( const trajectory_msgs::JointTrajectory::Ptr & msg ) [inline, private]

Definition at line 546 of file ur_ros_wrapper.cpp.

bool RosWrapper::start_positions_match	(	const trajectory_msgs::JointTrajectory &	traj,
		double	eps
	)		`[inline, private]`

Definition at line 504 of file ur_ros_wrapper.cpp.

bool RosWrapper::traj_is_finite ( ) [inline, private]

Definition at line 531 of file ur_ros_wrapper.cpp.

void RosWrapper::trajThread	(	std::vector< double >	timestamps,
		std::vector< std::vector< double > >	positions,
		std::vector< std::vector< double > >	velocities
	)		`[inline, private]`